CN106864706B - Workbench and implementation under intelligent water - Google Patents
Workbench and implementation under intelligent water Download PDFInfo
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- CN106864706B CN106864706B CN201510912492.6A CN201510912492A CN106864706B CN 106864706 B CN106864706 B CN 106864706B CN 201510912492 A CN201510912492 A CN 201510912492A CN 106864706 B CN106864706 B CN 106864706B
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- underwater
- underwater robot
- intelligent water
- workbench
- water according
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to workbench and implementations under a kind of intelligent water, it is formed including external remote control and underwater robot two parts, underwater robot part is made of kayak body, lighting device, underwater sealing propeller, detection sensing device, electronic control system pressure-resistant seal cabin, navigation attitude monitoring module, executive device.Workbench external remote control is connect with underwater robot by umbilical cables under intelligent water, contain feed cable and data transmission fiber in umbilical cables, umbilical cables are connect with the junction of underwater robot part using water-stop plug, robot dive beneath the water after by detect sensing device obtain underwater operation environmental information, and information is transmitted to operator in time, operator carries out underwater or ocean engineering specific tasks using external remote control and operates, underwater robot in the present invention can accurately arrive at underwater designated position, voyage is big, it is influenced by weather small, it can be by carrying different working ends in executive device, complete a variety of subsea tasks.
Description
Technical field
The present invention is to be related to workbench and implementation under a kind of intelligent water, and it can be water to concretely relate to one kind
Lower or ocean engineering provides the intelligent platform of working end carry, adapts to changeable underwater environment and complicated landform, underwater robot can
To accurately arrive at underwater designated position, voyage is big, it is small to be influenced by weather, can be by carrying different works in executive device
Make end, completes a variety of subsea tasks.
Background technology
21 century is the century that the mankind march to ocean.Deep-sea as one of the treasured place of human development and high-tech sector,
Have become the grand strategy target of various countries, and one of the focus competed in the world in recent years.Unmanned remotely controlled submersible vehicle
（Remote Operated Vehicles, ROV）, also referred to as underwater robot.It is a kind of to work in underwater limit operation machine
People can pull the plug and complete certain operations, also known as submersible instead of people.Underwater environment is badly dangerous, and the diving depth of people is limited,
So underwater robot has become the important tool of exploitation ocean.Its function is varied, and different types of ROV is for executing not
With task, be widely used in army, coast guard, maritime affairs, customs, nuclear power, water power, offshore oil, fishery, sea are rescued
It helps, the every field such as pipeline detection and scientific research of seas.
Invention content
The purpose of the invention is to overcome disadvantage of the existing technology, it can be underwater or ocean work to provide one kind
Journey provides the intelligent platform of working end carry, adapts to changeable underwater environment and complicated landform, underwater robot can be arrived accurately
Up to underwater designated position, voyage is big, it is small to be influenced by weather, can be completed by carrying different working ends in executive device
A variety of subsea tasks, complete people cannot and task intelligent water under workbench and implementation.
To achieve the goals above, the technical scheme is that：
Workbench and implementation under a kind of intelligent water, system composition includes external remote control and underwater robot
Two parts；The external remote control includes main control computer, control handle, display system and subsurface communication interface and umbilical cord
Cable, hawser retractable equipment, power-supply system；The underwater robot uses frame-type modular construction, including kayak body, illumination dress
It sets, underwater sealing propeller, detection sensing device, electronic control system pressure-resistant seal cabin, navigation attitude monitoring module, executive device.
Kayak body frame in the underwater robot part uses PP composite material, other parts to be equipped with high intensity
Buoyant material.
Lighting device in the underwater robot part be by 2 waterproof, illuminating lamp groups at.
Underwater sealing propeller in the underwater robot part is by shell, motor, retarder, sealing cover, spiral shell
Paddle, baffle circle composition are revolved, wherein motor is connected with retarder, fixes inside the shell, close with O-ring between shell and sealing cover
It seals, other spaces are sealed with transformer oil in shell, and reducer shaft end is equipped with propeller.
Detection sensing device in the underwater robot part includes：Wide-angle camera 1 is located at executive device bottom
Portion；Sonar anticollision device 2 is located at the top of underwater robot.
Electronic control system pressure-resistant seal cabin in the underwater robot part is by shelter lid, shelter body, power supply
Plate, driving plate, mainboard, control panel, navigation attitude monitoring module and light end switch composition, use bolt between shelter lid and shelter body
Connection type, shelter body surrounding are sealed with O-ring, and space fills transformer oil in cabin.
The electronic control system pressure-resistant seal cabin shelter has covered waterproof signal wire slot.
Navigation attitude monitoring module is housed inside the electronic control system pressure-resistant seal cabin, navigation attitude monitoring module is by MEMS tops
Spiral shell instrument, electronic compass and depth transducer composition.
Executive device in the underwater robot part is external working end carry platform, is located at underwater robot bottom
Portion.
The present invention overcomes the key position waterproof problem of underwater robot, can long-time underwater operation, can not only be
The underwater work of various environment, can also be in bottom work with a varied topography.
Description of the drawings
Fig. 1 is the system block diagram of workbench under intelligent water provided by the invention；
Fig. 2 is the structural schematic diagram of underwater robot provided by the invention（Electronic control system pressure-resistant seal cabin 1, kayak body
2, executive device 3, lower sealing propeller 4, lighting device 5, detection sensing device 6）；
Fig. 3 is the internal structure schematic diagram of electronic control system sealed compartment provided by the invention（Circle cab body 7, navigation attitude monitoring
Module 8, control panel 9, mainboard 10, shelter lid 11, light end switch 12, driving plate 13, power panel 14）.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Fig. 1 shows the system block diagram of workbench under intelligent water provided by the invention.For convenience of description, it only shows
Part related to the present invention.
Workbench and implementation under a kind of intelligent water, system composition includes external remote control and underwater robot
Two parts；The external remote control includes main control computer, control handle, display system and subsurface communication interface and umbilical cord
Cable, hawser retractable equipment, power-supply system；The underwater robot uses frame-type modular construction, including kayak body 2, illumination
Device 5, detection sensing device 6, electronic control system pressure-resistant seal cabin 1, navigation attitude monitoring module 8, is held underwater sealing propeller 4
Luggage sets 3.
2 frame of kayak body in the underwater robot part uses PP composite material, and other parts are equipped with high-strength
Buoyant material is spent, the purpose of equipped high intensity buoyant material is to realize the neutral buoyancy of underwater robot part, makes its appearance under water
State is more stablized.
Lighting device 5 in the underwater robot part is by 2 waterproof, illuminating lamp groups at being located at underwater machine
The front side and downside of device people, front side waterproof, illuminating lamp provide light source for monitoring work environment, and downside waterproof, illuminating lamp is in order to supervise
The concrete operations for controlling working end provide light source.
Underwater sealing propeller 4 in the underwater robot part is by shell, motor, retarder, sealing cover, spiral shell
Paddle, baffle circle composition are revolved, wherein motor is connected with retarder, fixes inside the shell, close with O-ring between shell and sealing cover
It seals, other spaces are sealed with transformer oil in shell, and reducer shaft end is equipped with propeller.
Detection sensing device 6 in the underwater robot part includes：Wide-angle camera 1 is located at executive device 3
Bottom；Sonar anticollision device 2 is located at the top of underwater robot.
Electronic control system pressure-resistant seal cabin 1 in the underwater robot part be by shelter lid 11, shelter body 7,
Power panel 14, driving plate 13, mainboard 10, control panel 9, navigation attitude monitoring module 8 and light end switch 12 form, shelter lid 11 and side
Mode is connected by screw bolts between cab body 7,7 surrounding of shelter body is sealed with O-ring, and space fills transformer oil in cabin.
There is waterproof signal wire slot on the 1 shelter lid 11 of electronic control system pressure-resistant seal cabin.
Navigation attitude monitoring module 8 is housed inside the electronic control system pressure-resistant seal cabin, navigation attitude monitoring module 8 is by MEMS
Gyroscope, electronic compass and depth transducer composition.
Executive device 3 in the underwater robot part is external working end carry platform, is located at underwater robot
Bottom.
The present invention overcomes the key position waterproof problem of underwater robot, can long-time underwater operation, can not only be
The underwater work of various environment, can also be in bottom work with a varied topography.
Further specifically underwater robot is first had to hang into water when carrying out underwater operation, it is then waterborne
External remote control by umbilical cables to underwater robot send instructions, the control panel 9 in electronic control system pressure-resistant seal cabin 1
Instruction is assigned in analysis, and driving plate 13 drives underwater sealing propeller 4 that robot is made to move ahead according to predetermined direction, at the same time illuminates
Device 5 and detection sensing device 6 also begin to illuminate and image and detection, display system waterborne can show the video of its shooting
And detailed detection information, and store.After finding target, the work that is derived using navigation attitude monitoring module 8
End position, posture information calculate target location, carry out specific works.This intelligent platform can according to the different working end of carry,
Various subsea tasks are completed, such as：Undersea detection, underwater search and rescue, Underwater Welding, underwater salvage etc..
Claims (9)
1. workbench under a kind of intelligent water, which is characterized in that its system composition includes external remote control and underwater robot
Two parts；The external remote control includes main control computer, control handle, display system and subsurface communication interface and umbilical cord
Cable, hawser retractable equipment, power-supply system；The underwater robot uses frame-type modular construction, including kayak body, illumination dress
It sets, underwater sealing propeller, detection sensing device, electronic control system pressure-resistant seal cabin, navigation attitude monitoring module, executive device；
Executive device in the underwater robot part is external working end carry platform；
Electronic control system pressure-resistant seal cabin in the underwater robot part is by shelter lid, shelter body, power panel, drive
Movable plate, mainboard, control panel, navigation attitude monitoring module and light end switch composition, shelter body surrounding are sealed with O-ring, and in cabin space
Fill transformer oil；
After finding target, the work end position, the posture information that are derived using navigation attitude monitoring module calculate target location,
Carry out specific works.
2. workbench under a kind of intelligent water according to claim 1, which is characterized in that the underwater robot part
In kayak body frame use PP composite material, other parts to be equipped with high intensity buoyant material.
3. workbench under a kind of intelligent water according to claim 1, which is characterized in that the underwater robot part
In lighting device be by 2 waterproof, illuminating lamp groups at.
4. workbench under a kind of intelligent water according to claim 1, which is characterized in that the underwater robot part
In underwater sealing propeller be made of shell, motor, retarder, sealing cover, propeller, baffle circle, wherein motor and subtract
Fast device is connected, and fixes inside the shell, is sealed with O-ring between shell and sealing cover, other space transformer oil are close in shell
Envelope, reducer shaft end are equipped with propeller.
5. workbench under a kind of intelligent water according to claim 1, which is characterized in that the underwater robot part
In detection sensing device include：Wide-angle camera 1 is located at executive device bottom；Sonar anticollision device 2 is located at underwater
At the top of robot.
6. workbench under a kind of intelligent water according to claim 1, which is characterized in that adopted between shelter lid and shelter body
It is connected with mode.
7. workbench under a kind of intelligent water according to claim 1 or 6, which is characterized in that the electronic control system
System pressure-resistant seal cabin shelter has covered waterproof signal wire slot.
8. workbench under a kind of intelligent water according to claim 1 or 6, which is characterized in that the electronic control system
Navigation attitude monitoring module is housed, navigation attitude monitoring module is passed by MEMS gyroscope, electronic compass and depth inside pressure-resistant seal cabin of uniting
Sensor forms.
9. workbench under a kind of intelligent water according to claim 1, which is characterized in that the underwater robot part
In executive device be located at underwater robot bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510912492.6A CN106864706B (en) | 2015-12-11 | 2015-12-11 | Workbench and implementation under intelligent water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510912492.6A CN106864706B (en) | 2015-12-11 | 2015-12-11 | Workbench and implementation under intelligent water |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106864706A CN106864706A (en) | 2017-06-20 |
| CN106864706B true CN106864706B (en) | 2018-10-09 |
Family
ID=59238233
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510912492.6A Active CN106864706B (en) | 2015-12-11 | 2015-12-11 | Workbench and implementation under intelligent water |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380383B (en) * | 2017-08-11 | 2023-03-28 | 江苏科技大学 | Observation type unmanned remote control submersible |
| CN108016586A (en) * | 2018-01-04 | 2018-05-11 | 西南石油大学 | A kind of small-sized hanging underwater robot platform device |
| CN108189989B (en) * | 2018-01-18 | 2020-10-09 | 马鞍山威莎自动化设备科技有限公司 | Intelligent deepwater operation system based on motion simulation |
| CN109878667B (en) * | 2019-04-04 | 2019-11-08 | 南京涵铭置智能科技有限公司 | A kind of underwater observation robot and its observation method |
| CN113044184A (en) * | 2021-01-12 | 2021-06-29 | 桂林电子科技大学 | Deep learning-based water rescue robot and drowning detection method |
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|---|---|---|---|---|
| EP0691264A1 (en) * | 1994-07-08 | 1996-01-10 | Societe Eca | Improved method for the destruction of an underwater object, especially of an underwater sea mine |
| CN102975833A (en) * | 2012-12-10 | 2013-03-20 | 上海大学 | Teleoperation unmanned submersible for detecting and disposing submarine target |
| CN104590516A (en) * | 2015-02-16 | 2015-05-06 | 福州大学 | Underwater detection robot for shallow water piers and detection method of detection robot |
| CN104613275A (en) * | 2015-02-13 | 2015-05-13 | 山东省水利科学研究院 | Pipeline underwater robot detection device |
| CN104960651A (en) * | 2015-07-16 | 2015-10-07 | 安徽科微智能科技有限公司 | Underwater exploring robot with function of autonomous navigation |
-
2015
- 2015-12-11 CN CN201510912492.6A patent/CN106864706B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0691264A1 (en) * | 1994-07-08 | 1996-01-10 | Societe Eca | Improved method for the destruction of an underwater object, especially of an underwater sea mine |
| CN102975833A (en) * | 2012-12-10 | 2013-03-20 | 上海大学 | Teleoperation unmanned submersible for detecting and disposing submarine target |
| CN104613275A (en) * | 2015-02-13 | 2015-05-13 | 山东省水利科学研究院 | Pipeline underwater robot detection device |
| CN104590516A (en) * | 2015-02-16 | 2015-05-06 | 福州大学 | Underwater detection robot for shallow water piers and detection method of detection robot |
| CN104960651A (en) * | 2015-07-16 | 2015-10-07 | 安徽科微智能科技有限公司 | Underwater exploring robot with function of autonomous navigation |
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| CN106864706A (en) | 2017-06-20 |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 200000 Shanghai Pudong New Area port high tech industrial base A0201 2082 Applicant after: Shanghai voyage Zhihui Marine Equipment Co., Ltd. Address before: 200000 building 3, 333 marine Road, Nanhui new town, Pudong New Area, Shanghai. Applicant before: SHANGHAI FLAGSHIP MARINE EQUIPMENT CO., LTD. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200930 Address after: 264200 Huancui District, Weihai City, Shandong Province, 298-1 Sun Jiatuan Huanhai Road Patentee after: Zhizhen Marine Science and Technology (Weihai) Co.,Ltd. Address before: 2082 A0201 Neighborhood, Lingang Marine Hi-tech Industrialization Base, Pudong New Area, Shanghai Patentee before: Upper Hainan Airlines Shi Zhihui marine settings Co.,Ltd. |